US9205980B2 - Storage rack with automatic storage location acquisition - Google Patents

Storage rack with automatic storage location acquisition Download PDF

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Publication number
US9205980B2
US9205980B2 US12/937,287 US93728709A US9205980B2 US 9205980 B2 US9205980 B2 US 9205980B2 US 93728709 A US93728709 A US 93728709A US 9205980 B2 US9205980 B2 US 9205980B2
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storage
computer
goods
image data
carrier
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US20110035045A1 (en
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Franz Walter
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Hanel & Co
Hanel and Co
Haenel and Co
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Hanel & Co
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02M—SUPPLYING COMBUSTION ENGINES IN GENERAL WITH COMBUSTIBLE MIXTURES OR CONSTITUENTS THEREOF
    • F02M63/00—Other fuel-injection apparatus having pertinent characteristics not provided for in groups F02M39/00 - F02M57/00 or F02M67/00; Details, component parts, or accessories of fuel-injection apparatus, not provided for in, or of interest apart from, the apparatus of groups F02M39/00 - F02M61/00 or F02M67/00; Combination of fuel pump with other devices, e.g. lubricating oil pump
    • F02M63/0012—Valves
    • F02M63/0014—Valves characterised by the valve actuating means
    • F02M63/0015—Valves characterised by the valve actuating means electrical, e.g. using solenoid
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02M—SUPPLYING COMBUSTION ENGINES IN GENERAL WITH COMBUSTIBLE MIXTURES OR CONSTITUENTS THEREOF
    • F02M63/00—Other fuel-injection apparatus having pertinent characteristics not provided for in groups F02M39/00 - F02M57/00 or F02M67/00; Details, component parts, or accessories of fuel-injection apparatus, not provided for in, or of interest apart from, the apparatus of groups F02M39/00 - F02M61/00 or F02M67/00; Combination of fuel pump with other devices, e.g. lubricating oil pump
    • F02M63/0012—Valves
    • F02M63/0031—Valves characterized by the type of valves, e.g. special valve member details, valve seat details, valve housing details
    • F02M63/0033—Lift valves, i.e. having a valve member that moves perpendicularly to the plane of the valve seat
    • F02M63/0036—Lift valves, i.e. having a valve member that moves perpendicularly to the plane of the valve seat with spherical or partly spherical shaped valve member ends
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02M—SUPPLYING COMBUSTION ENGINES IN GENERAL WITH COMBUSTIBLE MIXTURES OR CONSTITUENTS THEREOF
    • F02M2200/00—Details of fuel-injection apparatus, not otherwise provided for
    • F02M2200/30—Fuel-injection apparatus having mechanical parts, the movement of which is damped
    • F02M2200/306—Fuel-injection apparatus having mechanical parts, the movement of which is damped using mechanical means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02M—SUPPLYING COMBUSTION ENGINES IN GENERAL WITH COMBUSTIBLE MIXTURES OR CONSTITUENTS THEREOF
    • F02M2200/00—Details of fuel-injection apparatus, not otherwise provided for
    • F02M2200/80—Fuel injection apparatus manufacture, repair or assembly
    • F02M2200/8069—Fuel injection apparatus manufacture, repair or assembly involving removal of material from the fuel apparatus, e.g. by punching, hydro-erosion or mechanical operation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02M—SUPPLYING COMBUSTION ENGINES IN GENERAL WITH COMBUSTIBLE MIXTURES OR CONSTITUENTS THEREOF
    • F02M47/00—Fuel-injection apparatus operated cyclically with fuel-injection valves actuated by fluid pressure
    • F02M47/02—Fuel-injection apparatus operated cyclically with fuel-injection valves actuated by fluid pressure of accumulator-injector type, i.e. having fuel pressure of accumulator tending to open, and fuel pressure in other chamber tending to close, injection valves and having means for periodically releasing that closing pressure
    • F02M47/027—Electrically actuated valves draining the chamber to release the closing pressure

Definitions

  • the invention relates to a storage rack with a plurality of supports arranged on top of each other for supporting carriers which can be moved by means of an automatic loading and removal device.
  • the storage rack has at least one access opening for inserting and removing the carriers, and comprises a computer wherein information about the stored goods is stored.
  • the storage rack is provided with at least one image capture device which is suitable for optical recording of the goods placed on the carriers and is able to produce digital image information wherein the digital image information can be stored in the computer and recalled by means of a display unit.
  • a selection device which uses the digital image information to allow selection of a carrier and movement thereof to the access opening by means of the computer is associated with the display unit.
  • the invention relates to a method for storing or removing storage goods in a storage rack of this type and a computer program product for execution of such a method.
  • Storage racks of said type are known from prior art under the designation “vertical lift”.
  • a carrier is moved to the access opening in each case.
  • the operator may insert storage goods into the carrier or remove them from the carrier.
  • Modern storage shelves of the type mentioned above are provided with a control system which serves for stockkeeping and wherein information is
  • Modern storage shelves of the type mentioned above are provided with a control system which serves for stockkeeping and wherein information is stored about which storage goods are stored in which carrier. This allows for the respective carrier to be easily found by the operator.
  • DE 198 28 659 A1 proposes to provide light barriers registrating removal of items from the containers and notifying a control unit of such removal of items in a storage rack with fixed storage rack floor sheets on which containers for storing goods are placed.
  • DE 201 21 417 U1 discloses a storage rack having most of the characteristics mentioned at the beginning.
  • An image sensing program stored in the computer is capable of generating a raster system which allows detection and display of free storage places in carriers.
  • the object of the invention is to accelerate the storage operation in a storage rack of the type mentioned above and to simplify stockkeeping and detection of free storage spaces.
  • the computer will contain an image data storage for archiving the digital image data of the carriers and an image data processing unit designed to detect and/or recognize free storage spaces based on the digital image data in the image data storage.
  • the storage space occupied by newly stored storage goods is automatically detected and noted in the data about stored storage goods.
  • free storage spaces are detected by the computer based on the digital image data. This has the advantage that free storage spaces are recognized even if the storage goods have slipped in the carriers. Furthermore, a precisely located storage is no longer necessary to allow detection of free storage spaces and the storage rack can be filled with storage goods of any shape.
  • the storage rack according to the present invention will obviate the need for the operator to enter into the computer at which location in the carrier moved to the access opening the newly stored storage goods have been placed. Likewise, when storage goods are removed there is no need to enter the previous storage location of the storage goods into the computer. Furthermore, the selection of a carrier having a suitably large free storage space is simplified. The storage operation is thus accelerated and reliability of stored data concerning the occupancy situation is increased.
  • the storage rack may comprise a contactless detection unit for recognition of storage goods. As there is no need for the operator to manually enter an identification of the storage goods any more, this also accelerates storage or removal operation and increases reliability of available data.
  • the storage goods may comprise a wireless transponder device for identification purposes and the storage rack may be provided with a communication device for wireless transponders designed to transfer identification data to the computer.
  • the wireless transponder device comprises an RFID tag.
  • RFID tags are known from prior art and they are available in various shapes. Especially, such labels can be found as small adhesive labels having low weight and volume as well as being easy to handle.
  • the communication device may be provided with an RFID receiver unit.
  • an RFID receiver unit provides the possibility to detect all objects marked by means of an RFID tag in the area of the access opening and/or in the area of the carrier in a contactless manner and without the need for optical accessibility, as is necessary for the detection of bar codes.
  • the computer may be provided with a size data storage containing data for storage space requirements of certain storage goods. This will increase accuracy of a suggestion for a free storage place to store storage goods.
  • the display unit can be designed to display a preview of the free storage space that has been determined. This allows orientation for the operator on the carrier even while the carrier is being removed from the storage rack and is being moved to the access opening, thus shortening search for free storage space on the carrier.
  • the storage rack For communication between its units the storage rack is provided with a LAN or a CAN bus. This type of communication channels can be operated reliably and with low failure rate in an industrial environment.
  • a method for storage or removal of storage goods in a storage rack is suggested, wherein at first the storage goods to be stored or removed are identified by an operator or by the contactless detection unit, a free storage space or the storage location is identified by the computer based on stored storage information or stored image data, then the carrier including the free storage place determined is moved to the access opening, the storage goods are stored or removed, and finally the storage information in the computer is reconciled.
  • the method according to the present invention allows for reliable update of storage information thus minimizing the influence of operator errors.
  • the storage space determined by the computer on storage can be displayed to and rejected by an operator, in which case another free storage space will subsequently be determined. This allows for verification of the suggested storage space.
  • the storage space of the storage goods determined by the computer on removal can be displayed to an operator by means of the display unit.
  • the operator can find the storage space on the carrier more easily.
  • the image data processing unit will split the digital mage data into a raster the raster elements of which can be marked as free or occupied in the storage information. This will decrease the effort needed for processing image data, thus allowing for inexpensive and energy efficient parts to be used for the computer and the image data processing unit.
  • the image capture device may capture and transfer one image of the carrier before and following storage or removal to the image archive storage respectively. This will provide a record of which changes have been made to the carrier by the operator.
  • the image data processing unit can generate a difference for each pixel of a raster element between the pixel of the image captured before storage or removal and the pixel of the image captured after storage or removal and total the differences within a raster element to calculate a similarity value. This enables the image data processing unit to detect in which raster elements changes have occurred due to storage or removal.
  • the image data processing unit is furthermore able to perform a process for detecting free raster elements where a percentage of pixels with color values which are within an identification range is determined and the raster element is marked as unoccupied if the percentage exceeds a defined threshold value. This allows detection of free space, especially on newly inserted carriers, without the need to use archived image data.
  • the image capture device performs the method to detect free raster elements for each raster element of a carrier.
  • the computer comprises a data base wherein storage locations and/or storage quantities of storage goods are saved.
  • storage locations and/or storage quantities of storage goods are saved.
  • the computer In order to reconcile storage information the computer is able to store the storage location determined using the digital image information and the identification of the stored storage goods in the data base. Thus, it is no longer necessary to re-run the time consuming image data processing for each request for a free storage space or certain storage goods.
  • the computer is able to generate a list of storage goods contained in the carrier before and after the storage or removal operation and determine the storage goods removed and stored by a comparison of the lists. This further increases reliability of the data base.
  • a computer program product for performing the method according to one of claims 9 through 20 is furthermore suggested which is designed to be executed in the computer and/or the image data processing unit and/or the image data archive storage.
  • FIG. 1 a storage rack with sensing, display, and processing units
  • FIG. 2 a block diagram of the computer
  • FIG. 3 a flow chart to illustrate a storage or removal operation
  • FIG. 4 a flow chart with a process to detect changes in a carrier
  • FIG. 5 a a photo of a carrier before a storage operation with a raster
  • FIG. 5 b a photo as in FIG. 5 a after a storage operation
  • FIG. 6 a flow chart depicting a method for detecting free storage space.
  • the storage rack 10 shown in FIG. 1 comprises two modules 11 a and 11 b which are located spaced apart from each other.
  • the modules 11 a , 11 b comprise a plurality of carrier supports 14 which are located in pairs spaced apart from each other on opposing side walls.
  • the carrier supports 14 serve to support trough shaped carriers 15 wherein storage goods 17 are contained.
  • a conveyor space 12 is provided wherein a moveable automatic loading and removal device 13 is located by which the carriers can be moved.
  • Module 11 b is provided with an access opening 18 through which the carriers 15 can be loaded or removed. Likewise, it is possible to remove storage goods 17 from a carrier 15 which has been moved to the access opening 18 and/or store them in it.
  • a computer 20 which inter alia serves to control the storage rack 10 is associated with the storage rack 10 .
  • An operator device 22 located at the storage rack 10 and an independently operable visual inspection station 23 are linked to the computer 20 by means of a LAN 21 , i.e. a local computer network.
  • An image capture device 24 consisting of a digital camera is located in a top face 19 of the access opening 18 .
  • the digital camera 24 is positioned to allow registration of a carrier 15 which has been moved to the access opening 18 in its entirety.
  • the digital camera 24 is linked thereto by means of the LAN 21 .
  • a contactless sensing device consisting of an RFID receiver 26 is also connected to the LAN 21 .
  • the storage goods 17 are provided with RFID tags 27 , thus allowing the storage goods 17 to be identified by the RFID receiver 26 .
  • the computer 20 depicted in FIG. 2 is connected to the LAN 21 by means of a communication interface 30 .
  • the computer 20 is thus able to exchange data with the RFID receiver 26 , the digital camera 24 and a display device 28 over the LAN 21 .
  • the automatic loading and removal device 13 can be accessed by means of the LAN 21 (not shown herein).
  • the operator device 22 is associated with a control unit (not shown) to control the automatic loading and removal device 13 which is responsible for controlling removal and insertion of the carriers 15 .
  • the computer 20 can communicate with this control unit and is thus relieved from directly controlling the mechanics of the storage rack 10 .
  • This control unit also allows operating the storage rack 10 by means of the operator device 22 without the computer 20 .
  • the computer 20 comprises a central processing unit 31 which is linked to a data memory 33 by means of a storage interface 32 .
  • Parts of the data memory 33 serve as image data archive 34 , size data memory 35 , storage data base 36 and as occupancy information memory 37 .
  • the central processing unit 31 comprises an image data processing unit 38 for processing the image data supplied by the digital camera 24 .
  • the image data supplied by the digital camera 24 is stored in the image data archive 34 together with a metadata record.
  • the metadata record for example, contains information concerning the photographed carrier 15 , date and time of the photo, information pertaining to whether the image was acquired before or after access by an operator as well as an identification code for the operator who has induced the carrier 15 to be moved to the access opening 15 .
  • the size data memory 35 contains size and weight information for various storage goods 17 .
  • Each type of storage goods 17 is associated with a part number which allows, for example, to retrieve the size of the storage goods 17 from the size data memory 35 .
  • the part number can also be used to retrieve data pertaining to storage spaces of storage goods 17 having a certain part number from the storage data base 36 .
  • the occupancy information memory 37 contains information for each carrier 15 concerning which areas of the carrier 15 are occupied by storage goods 17 and which areas are free.
  • FIG. 3 shows the course of a storage operation in storage rack 10 .
  • an operator identifies storage goods 17 a to be newly stored to the computer 20 . This will be accomplished by moving the RFID tag 27 attached to the storage goods 17 a into the reception are of the RFID receiver 26 .
  • storage goods 17 a which are too small or unsuitable for attaching an RFID tag 27 identification may, for example, also be accomplished by entering a part number by means of the operator device 22 or the visual inspection station 23 .
  • the operator also wears an RFID tag 27 attached to his/her clothing transmitting the operator identity to the RFID receiver 26 .
  • the computer 20 uses the identification of the storage goods 17 a to retrieve their size from the size data memory 35 .
  • the computer 20 will subsequently search the occupancy information memory 37 for a free storage space of sufficient size. Once such storage space has been identified the carrier 15 with the free storage space will be moved to the access opening 18 in a further method step 42 .
  • the digital camera 24 will take a picture of the carrier 15 in a step 43 .
  • the image is transferred to the computer 20 where it will be stored in the image data archive 34 in association with the information that this image shows a state before an operator action.
  • step 44 the operator stores the storage goods 17 a in a free storage space in the carrier 15 .
  • a suggestion for free storage space is displayed on the operator device 22 for this purpose.
  • this status will be entered by the operator by means of the operator device 22 , inducing a picture of the carrier 15 to be taken and transferred to the computer 20 by the digital camera 24 in a further processing step 45 .
  • the computer 20 will store the image in the image data archive 34 in association with the information that it contains a state after an operator action.
  • a compare step 46 the computer 20 in association with its image data processing unit 38 compares the pictures taken before and after the operator action and detects occupancy changes in the carrier.
  • the storage data base 36 and the occupancy information memory 37 are updated.
  • the image data processing unit 38 performs a method as shown in FIG. 4 .
  • a first step 50 the image data processing unit 38 retrieves two images from the image data archive 34 .
  • the first image 39 a shown in FIG. 5 a was taken before the storage operation
  • the second image 39 b shown in FIG. 5 b was taken after the storage operation.
  • a raster 38 a will be superimposed on them by the image data processing unit 38 in step 51 .
  • step 52 the image data processing unit 38 selects a raster element to be processed.
  • step 53 a pixel by pixel comparison is performed between the raster element of picture 39 a and the raster element of picture 39 b . If the raster elements match with each other, as it is, for example, the case in elements A 3 and G 1 , the occupancy status of the raster element in the occupancy information memory 37 will not be not changed in step 54 a.
  • a next step 55 the image data processing unit 38 verifies whether all raster elements have been compared with each other. If this is not true the processing will be continued with a new raster element in step 52 .
  • the image data processing unit 38 additionally performs the method shown in FIG. 6 .
  • the image data processing unit 38 first retrieves picture 39 b , which was taken after the storage operation from the image data archive 34 .
  • a first step 60 the raster 38 a is superimposed on the picture 39 b .
  • the image data processing unit 38 selects a raster element for verification in step 61 .
  • the image data processing unit 38 detects the percentage of pixels of the raster element showing color values within an identification range.
  • the identification range is selected to ensure that the majority of the pixels in a raster element without storage goods are within the identification range. If, for example, the floor of the carriers 15 is of white color, the identification range can be from 80% brightness to 100% brightness evenly for all colors.
  • the range from 0% to 20% brightness is, for example, to be selected for the identification range.
  • the identification range will, for example, be from 80%-100% for green and from 60%-90% for red and blue color respectively.
  • the image data processing unit 38 After determining the percentage of pixels within the identification range the image data processing unit 38 compares the percentage with a reference value which, in this case, shall be 80%. Thus, if the color values of at least 80% of the pixels of the raster element are within the identification range the raster element is marked as unoccupied in step 63 a . If, however, less than 80% of the color values of the pixels of the raster element are within the identification range, the raster element is marked as occupied in the occupancy information memory 37 in step 63 b.
  • the color values of the pixels can be converted into gray values before the comparison. Saving in necessary processing power accomplished by this will however be at the expense of accuracy in detecting free storage space.
  • step 64 the image data processing unit 38 verifies whether it has verified all raster elements. If this is not the case the method is continued with a new raster element in step 61 . If, however, all raster elements have been processed the image data processing unit 38 will terminate detection of free storage space.
  • the RFID tags 27 of the storage goods 17 contained in the carrier 15 are scanned before the storage or removal operation. The result is compared with the result of another scan performed after the storage or removal operation. New additional RFID tags 27 indicate newly stored storage goods 17 a while missing RFID tags 27 identify storage goods 17 which have been removed.
  • the described method is also available as a computer program product designed to be executed on the computer 20 .
  • the computer 20 is a control computer for the storage rack 10 . It would also be conceivable to provide an industrial PC with an interface for the storage rack 10 and for its loading and removal device 13 respectively, as well as with an interface for LAN 21 and to execute an appropriate computer program product in such a computer 20 .
  • a CAN bus may be provided for communication of the units with each other.
  • the storage rack according to the present invention in association with the method according to the present invention provides a simple and reliable possibility to reduce operator errors and to accelerate the storage and removal operations in a storage rack 10 .

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Warehouses Or Storage Devices (AREA)
US12/937,287 2008-04-11 2009-04-02 Storage rack with automatic storage location acquisition Active 2031-12-01 US9205980B2 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE102008018436 2008-04-11
DE102008018436.5A DE102008018436B4 (de) 2008-04-11 2008-04-11 Lagerregal mit automatischer Lagerortbuchung
DE102008018436.5 2008-04-11
PCT/EP2009/053964 WO2009124878A1 (de) 2008-04-11 2009-04-02 Lagerregal mit automatischer lagerortbuchung

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Publication Number Publication Date
US20110035045A1 US20110035045A1 (en) 2011-02-10
US9205980B2 true US9205980B2 (en) 2015-12-08

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US (1) US9205980B2 (pl)
EP (1) EP2279141B1 (pl)
CN (1) CN102056822B (pl)
DE (1) DE102008018436B4 (pl)
DK (1) DK2279141T3 (pl)
ES (1) ES2582565T3 (pl)
PL (1) PL2279141T3 (pl)
WO (1) WO2009124878A1 (pl)

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US11714926B1 (en) 2020-05-29 2023-08-01 The Hershey Company Product display design and manufacturing using a product display design model
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